JPH0742257Y2 - Horizontal control device for rice transplanter - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a horizontal control device for a rice transplanter that keeps a planting part horizontal.

"Prior Art" In this type of horizontal control device, the horizontal control is performed based on the detection value of a horizontal sensor that detects the lateral inclination of the planting part.

[Problems to be Solved by the Invention] In the prior art, when the planting part is tilted left and right, the horizontal inclination of the planting part is corrected by the output from the horizontal sensor. If you have a multi-row planting stand, the center of gravity of the planting part moves left and right due to the reciprocating movement of the seedling stand during planting work, so the correction operation based on the horizontal sensor output is likely to be delayed, and the point of quick response and stability. I had a problem with.

"Means for solving the problem" Therefore, according to the present invention, the planting portion is installed so as to be swingable left and right, and the horizontal sensor for detecting the left and right inclination of the planting portion and the left and right inclination of the planting portion are installed. In a rice transplanter equipped with a horizontal adjusting member for correction, a stroke sensor for detecting the left and right reciprocating position of the seedling table is provided, and the horizontal sensor output is corrected by the stroke sensor output to automatically perform horizontal control. It is characterized by having done.

"Operation" Therefore, even if the center of gravity of the planting part moves left and right due to the reciprocating motion of the seedling table during planting work, the stroke sensor output is added to correct the horizontal sensor output, so the control delay based on the horizontal sensor output Therefore, proper quick response and stable control operation can be easily obtained, and the horizontal control function can be easily improved as compared with the conventional one.

[Embodiment] An embodiment of the present invention will be described below in detail with reference to the drawings. First
The figure is a horizontal control circuit diagram, Fig. 2 is a side view of a passenger rice transplanter, and Fig. 3 is a plan view of the same. In the figure, (1) is a traveling vehicle on which an operator mounts an engine (2). The rear end of the body frame (3) is continuously connected to the mission case (4), and the front wheels (6) for traveling paddy are supported on both front sides of the mission case (4) through the front axle case (5). Rear wheels (8) for traveling paddy fields are supported on both rear sides of the mission case (4) through rear axle cases (7). Then, a spare seedling mounting table (10) is appropriately attached to both outer sides of the hood (9) covering the engine (2), and the axle case (5) (7) is formed by a vehicle body cover (12) forming a step (11). Etc., a driver's seat (13) is attached to the upper part of the vehicle body cover (12), and a steering handle (14) is provided in front of the driver's seat (13) at the rear of the bonnet (9).

Further, in the figure, (15) is a planting section having a seedling platform (16) for multi-row planting and a plurality of planting claws (17), etc. The platform (16) is supported by the planting case (20) via the guide rail (18) and the guide rail (19) so as to be slidable left and right, and the rotary case (21) that rotates in one direction at a constant speed is provided. A pair of claw cases (22) and (22) are supported at the planted case (20), and a pair of claw cases (22) and (22) are arranged symmetrically around the rotation axis of the case (21).
2) Mount the planting claws (17) (17) on the tip. Further, a support frame (24) is provided on the front side of the planting case (20) via a rotation fulcrum shaft (23), and a three-point link mechanism (27) including a top link (25) and a lower link (26) is provided. A supporting frame (24) is connected to the rear side of the traveling vehicle (1) via the linking mechanism (27), and a lifting cylinder (28) for lifting and lowering the planting part (15) is provided. ) (8) is driven to move at a substantially constant speed, and at the same time, two planting claws (17) (17) (17) (17) by one rotation of the rotary case (21) from the seedling table (16) that slides back and forth to the left and right. ), Two seedlings are taken out and the seedlings are continuously planted.

Further, in the figure, (29) is a traveling shift lever, (30) is a planting lever, (31) is a planting sensitivity adjusting lever, (32) is a traveling clutch pedal, and (33) and (33) are left and right brake pedals.

As shown in FIGS. 4 to 5, a center float (34) is arranged in the lower center of the planting part (15), and side floats (35) (35) are arranged on the left and right sides of the center float (34). The rear part of the left and right side floats (35) (35) is supported by the planting depth adjusting fulcrum shaft (37) below the planting case (20) via the planting depth adjusting link (36), and at the same time, the front part. Buffer links (38)
It is supported on the lower side of the planting case (20) via. Further, the center float (34) has a rear side supported by a planting depth adjusting link (36) and a front side supported by a sensor link (39) and a front bracket (40). A pitching fulcrum shaft (41) for swingably supporting the front portion of the float is provided on a bracket (42) on the rear upper surface of the float (34). And the planted case (20)
The pedestal depth adjusting fulcrum shaft (37) is rotatably supported on the fulcrum, and the base end of the fulcrum supporting shaft (37) is fixed to the planting depth adjusting links (36) (36). Connect to the fulcrum shaft (41).

As shown in FIGS. 5 to 7, the support frame (24)
Left and right rolling restriction springs (45) (45) are installed between the central vertical frame (43) integrally connected to the upper end of the seedling and the seedling mounting columns (44) (44) that support both the left and right sides of the seedling mounting table (16). The horizontal feed screw shaft (47) is internally provided in the upper fixed box (46) of the vertical frame (43), and the rolling motor (48) which is a horizontal adjusting member is attached to the screw shaft (47). A spring pressure adjusting plate (51) is attached to a moving body (49) that is interlocked and connected to a screw shaft (47) via a fixing plate (50), and the adjusting plate (51) and the column (44). A regulation spring (45) is stretched between the upper mounting metal fittings (52) of the plant so that the spring pressure can be adjusted freely to regulate the rolling generated by the lateral feed of the seedling placing table (16) during work, while the planting section ( When the left and right sides of 15) are tilted to the left and right, the rolling motor (48) is driven forward and backward to make the spring force of the left and right regulating springs (45) (45) unbalanced. It is configured to achieve a horizontal maintenance of the planting unit (15) by Gosuru.

Further, (53) is a rolling regulation auxiliary spring stretched between the left and right sides of the box (46) and the seedling table (16), and (54).
Is a horizontal sensor for detecting rolling provided at a central upper position of the planting case (20), (55) and (56) are horizontal prohibition left and right prohibition switches fixedly supported in the box (46) for position adjustment, Reference numeral (57) is a left-right prohibited operation piece fixed to the rear surface of the seedling placing table (16), which operates the rolling motor (48) based on the output of the horizontal sensor (54) to horizontally control the planting section (15). At the same time, the operation piece (57) alternately actuates any one of the switches (55) (56) at the left and right moving ends of the seedling placing table (16), and any one of the switches (55) (56) is activated. The horizontal control operation of the rolling motor (48) is prohibited for a certain time by the operation, and when the seedling stand (16) is turned back and forth, the planting part (15) is temporarily tilted in the direction opposite to the turning direction due to inertial force. Even if the horizontal sensor (54) detects and outputs this tilt, the rolling mode Motor (48) is configured to prevent blocking to erroneous control operation.

Further, the center of gravity position (60) of the horizontal control drive unit (59) including the box (46) and the motor (48) is set to the planting case (2).
0) A fixed distance (62) is offset from the fulcrum shaft (23) so as to balance with the drive reaction force of the planting input shaft (61) so that the left and right balance of the planting part (15) is maintained well. Is configured.

Further, as shown in FIG. 1, a stroke sensor (63) for detecting the lateral movement amount of the seedling placing table (16) and a planting sensor (for detecting engagement of a planting clutch for driving and controlling the planting section (15) ( 64)
A horizontal sensor (54), a dead zone setting device (65) for initially setting the dead zone of the horizontal sensor (54), and the left and right prohibition switches (55) (56), which are configured by a microcomputer. Each is connected to the control circuit (66).

Further, the rolling motor (48) is connected to the horizontal control circuit (66) via the left and right tilt circuits (67, 68).

Then, the horizontal sensor (54) detects the left and right inclination of the planting part (15), the left and right prohibition switches (55) and (56) detect the left and right movement of the seedling stand (16), and the stroke sensor (63). ) Detects the amount of lateral movement of the seedling stand (16),
The planting sensor (64) detects the engagement of the planting clutch, and the rolling motor (48) is normally or reversely operated based on each detected value, and the horizontal control of the planting part (15) is automatically performed. is doing.

The present embodiment is configured as described above, and the horizontal control operation is performed as shown in the flow chart of FIG. 8. When the planting clutch is turned on by the operation of the planting lever (30) and the planting work is started, As shown in the diagrams of FIGS. 9 to 11, the planting sensor (64) is turned on, the stroke sensor (63) inputs the lateral movement amount (G) of the seedling placing table (16), and the horizontal A target median value (VO) is calculated from the horizontal output value (VE) of the sensor (54) and the center of gravity position.

Then, the detection value (V) of the horizontal sensor (54) and the horizontal dead zone (VC) of the setting device (65) are input, and the difference between the detection value (V) and the reference value (VO) is positive in the dead zone (VC). When the state is tilted to the left larger than the above value, the rolling motor (48) is operated to control leftward raising, and the support angle of the planting part (15) is tilted to the right, except for control prohibition by turning on the left inhibit switch (55). Correct it so that the planting part (15) is supported horizontally with respect to the rice field.

Further, when the difference between the detected value (V) of the horizontal sensor (54) and the reference value (VO) is smaller than the negative value of the dead zone (VC) in the right tilted state, the control is prohibited by turning on the right prohibition switch (56). Then, the rolling motor (48) is operated to perform right-up control, and the support angle of the planting part (15) is corrected to the left tilt direction
The planting part (15) is supported horizontally on the rice field.

Further, when the absolute value of the difference between the detection value (V) of the horizontal sensor (54) and the reference value (VO) is equal to or smaller than the dead zone (VC), the horizontal control is stopped and the rolling motor (48). Is to keep stopped.

"Effects of the device" As is apparent from the above embodiment, the present invention has a planting part (15).
And the horizontal sensor (54) that detects the left and right inclination of the planting part (15) and the horizontal adjustment member (48) that corrects the left and right inclination of the planting part (15). The rice transplanter is equipped with a stroke sensor (63) that detects the left and right reciprocating position of the seedling mounting table (16), and the output of the stroke sensor (63) corrects the output of the horizontal sensor (54) to automatically perform horizontal control. Even if the center of gravity of the planting part (15) moves left and right due to the reciprocating motion of the seedling placing table (16) during planting work, the horizontal sensor is added with the stroke sensor (63) output. (54) Since the output is corrected, the control delay based on the output of the horizontal sensor (54) can be eliminated, and proper speed response and stable control operation can be easily obtained. It has practical effects such as easy improvement. Is shall.

[Brief description of drawings]

Fig. 1 is a horizontal control circuit diagram, Fig. 2 is an overall side view of a rice transplanter, Fig. 3 is a plan view of the rice transplanter, Figs. 4 and 5 are side views of a planting section, and Figs. 6 and 7. Is a partial explanatory view, FIG. 8 is a flowchart, and FIGS. 9 to 11 are output diagrams. (15) …… Planting section (16) …… Seedling stand (48) …… Rolling motor (horizontal adjustment member) (54) …… Horizontal sensor (63) …… Stroke sensor

Claims (1)

[Scope of utility model registration request] 1. A planting part is provided so as to be swingable left and right, and
In a rice transplanter equipped with a horizontal sensor that detects the left and right inclination of the planting section and a horizontal adjustment member that corrects the left and right inclination of the planting section, a stroke sensor that detects the left and right reciprocating position of the seedling table is provided. A horizontal control device for a rice transplanter, wherein the horizontal sensor output is corrected to automatically perform horizontal control.